Go to the documentation of this file.
28 double half_step = timestep * 0.5;
52 double d, value_error = 0.0, vel_error = 0.0, total_error;
65 total_error = sqrt(value_error+vel_error) / (
n_value+
n_dof);
67 new_timestep = timestep * sqrt(max_integ_error / total_error);
68 if(new_timestep < min_timestep)
69 new_timestep = min_timestep;
70 if(new_timestep > timestep)
71 new_timestep = timestep;
72 timestep = new_timestep;
218 double half_step = timestep * 0.5;
void unit()
Convert to unit vector.
fEulerPara rel_ep
Euler parameter representation of rel_att (for 0/3/6 DOF joints)
void set(const fMat33 &mat)
Copies a matrix.
Joint * root
Chain information.
JointType j_type
joint type
double qd
joint velocity (for 1DOF joints)
int IntegrateAdaptive(double ×tep, int step, double min_timestep=DEFAULT_MIN_TIMESTEP, double max_integ_error=DEFAULT_MAX_INTEG_ERROR)
Performs Euler integration with adaptive timestep.
Joint * child
pointer to the child joint
void angvel2epdot(const fEulerPara &_ep, const fVec3 &_omega)
Convert angular velocity to Euler parameter veclotiy.
@ JROTATE
rotational (1DOF)
@ JSPHERE
spherical (3DOF)
double * j_value_dot[4]
for 4-th order Runge-Kutta
int IntegrateRK4Value(double timestep, int step)
int SetJointValue(double _q)
int IntegrateRK4Velocity(double timestep, int step)
double q
joint value (for 1DOF joints)
fMat33 rel_att
(initial) orientation in parent joint's frame (for 0/3/6 DOF joints)
Classes for defining open/closed kinematic chains.
double ** all_value
Pointers to the integration variables.
int IntegrateRK4(double timestep, int step)
Performs 4-th order Runge-Kutta integration.
int IntegrateVelocity(double timestep)
friend fMat33 tran(const fMat33 &m)
Returns the transpose.
int SetJointVel(double _qd)
Joint * brother
pointer to the brother joint
int Integrate(double timestep)
Performs Euler integration with timestep timestep [s].
int IntegrateValue(double timestep)
Integrate value/velocity only.
void mul(const fVec3 &vec, double d)
openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Wed Sep 7 2022 02:51:03